System and method for inspecting flange connections

ABSTRACT

A system includes a probe assembly configured to inspect components of an assembled flange connection when the probe assembly is disposed within a bore of the components. The probe assembly includes a shaft configured to be aligned with an axis of the assembled flange connection, one or more ultrasound probes coupled to the shaft, and one or more encoders. The one or more ultrasound probes are configured to interface with an interior surface of the bore of the components, to emit ultrasound signals into the components, and to receive ultrasound signals from the components. The one or more encoders are coupled to the shaft and are configured to determine a position of the one or more ultrasound probes relative to a reference point of the assembled flange connection during an inspection of components of the assembled flange connection.

CROSS REFERENCE TO RELATED APPLICATION

This application claims priority from and the benefit of U.S.Provisional Application Ser. No. 62/046,676, entitled “SYSTEM AND METHODFOR INSPECTING FLANGE CONNECTIONS”, filed Sep. 5, 2014, which is herebyincorporated by reference in its entirety.

BACKGROUND

The subject matter disclosed herein relates to non-destructiveinspection, and more specifically to a system and method for inspectionof flange connections of a hydrocarbon extraction system.

Components of the hydrocarbon extraction systems may be located inonshore, offshore, subsea, or subterranean environments. Hydrocarbonextraction systems convey various fluids between components via tubularmembers. The conveyed fluids may be pressurized relative to the externalenvironment of the components or other tubular members. Some componentsof the hydrocarbon extraction system are coupled to one another viaflange connections. The components and flange connections are subjectedto various loads and environmental conditions during operation in thehydrocarbon extraction system. Some components may be utilized withanother hydrocarbon extraction system if the components pass aninspection and satisfy known standards. Unfortunately, traditionalinspection methods involve disassembling components and flangeconnections, which can be expensive and time consuming. Additionally,repeated assembly and disassembly may increase wear on components andthe flange connections.

BRIEF DESCRIPTION

Certain embodiments commensurate in scope with the present disclosureare summarized below. These embodiments are not intended to limit thescope of the claim, but rather these embodiments are intended only toprovide a brief summary of the present disclosure. Indeed, embodimentsof the present disclosure may encompass a variety of forms that may besimilar to or different from the embodiments set forth below.

In a first embodiment, a system includes a probe assembly configured toinspect components of an assembled flange connection. The probe assemblyincludes a shaft configured to be aligned with an axis of the flangeconnection, one or more ultrasound probes coupled to the shaft, and oneor more encoders. The one or more ultrasound probes are configured tointerface with a bore of the components, to emit ultrasound signals intothe components of the assembled flange connection, and to receiveultrasound signals from the components of the assembled flangeconnection. The one or more encoders are configured to determine aposition of the one or more ultrasound probes relative to a referencepoint of the assembled flange connection during an inspection ofcomponents of the assembled flange connection.

In another embodiment, a controller is coupled to a probe assemblyconfigured to be disposed within a bore of an assembled flangeconnection. The controller is configured to control axial movement ofthe probe assembly within the bore of the assembled flange connectionand to control circumferential movement of the probe assembly within thebore of the assembled flange connection. The controller is alsoconfigured to control an ultrasound inspection of an interior surface ofthe bore. The ultrasound inspection includes emitting ultrasound signalsfrom one or more probes of the probe assembly into the components,receiving ultrasound signals with the one or more probes of the probeassembly, and comparing the received ultrasound signals to baseline datafor the assembled flange connection.

In another embodiment, an inspection method includes inserting a probeassembly into a bore of an assembled stack of components from ahydrocarbon extraction system, emitting ultrasound signals from theprobe assembly into the components of the assembled stack, receivingultrasound signals at the probe assembly, and generating a model of theassembled flange connection of the assembled stack based at least inpart on the received ultrasound signals. The assembled stack ofcomponents includes the assembled flange connection between thecomponents. The received ultrasound signals are reflected from thecomponents of the assembled stack.

BRIEF DESCRIPTION OF THE DRAWINGS

These and other features, aspects, and advantages of the presentdisclosure will become better understood when the following detaileddescription is read with reference to the accompanying drawings in whichlike characters represent like parts throughout the drawings, wherein:

FIG. 1 is a block diagram of an embodiment of a hydrocarbon extractionsystem with some components coupled via flange connections;

FIG. 2 is a cross-sectional view of an embodiment of a stack of ahydrocarbon extraction system with flange connections;

FIG. 3 is a cross-sectional view of an embodiment of a flange seal of aflange connection, taken along line 3-3 of FIG. 2;

FIG. 4 is a block diagram of embodiments of probe assemblies and aflange connection;

FIG. 5 is a side view of an embodiment of a probe assembly; and

FIG. 6 is an embodiment of a method for inspecting a flange connectionof an assembled stack of components.

DETAILED DESCRIPTION

One or more specific embodiments of the present disclosure will bedescribed below. In an effort to provide a concise description of theseembodiments, all features of an actual implementation may not bedescribed in the specification. It should be appreciated that in thedevelopment of any such actual implementation, as in any engineering ordesign project, numerous implementation-specific decisions must be madeto achieve the developers' specific goals, such as compliance withsystem-related and business-related constraints, which may vary from oneimplementation to another. Moreover, it should be appreciated that sucha development effort might be complex and time consuming, but wouldnevertheless be a routine undertaking of design, fabrication, andmanufacture for those of ordinary skill having the benefit of thisdisclosure.

When introducing elements of various embodiments of the presentdisclosure, the articles “a,” “an,” “the,” and “said” are intended tomean that there are one or more of the elements. The terms “comprising,”“including,” and “having” are intended to be inclusive and mean thatthere may be additional elements other than the listed elements.

A hydrocarbon extraction system 10 is illustrated in FIG. 1. Thehydrocarbon extraction system 10 facilitates extraction of a hydrocarbonresource, such as oil or natural gas, from a well 12. The hydrocarbonextraction system 10 includes a variety of equipment, including surfaceequipment 14, riser equipment 16, and stack equipment 18, for extractingthe resource from the well 12 via a wellhead 20. The hydrocarbonextraction system 10 may be employed in a variety of drilling orextraction applications, including onshore and offshore, i.e., subsea,drilling applications. For example, in a subsea resource extractionapplication, the surface equipment 14 is mounted to a drilling rig abovethe surface of the water, the stack equipment 18 is coupled to thewellhead 20 proximate to the sea floor, and the surface equipment 14 iscoupled to the stack equipment 18 via the riser equipment 16.Connectors, illustrated by arrows 22, may facilitate coupling theequipment packages (e.g., surface equipment 14, riser equipment, 16,stack equipment 18, wellhead 20) of the hydrocarbon extraction system 10to one another. Additionally, or in the alternative, connectors 22 mayfacilitate coupling of components within an equipment package to oneanother. Embodiments of the connector 22 may include, but are notlimited to, an H-4® subsea connector, available from Vetco Gray ofHouston, Tex.

The various equipment portions (e.g., surface equipment 14, riserequipment 16, stack equipment 18, wellhead 20) of the hydrocarbonextraction system 10 may include a variety of components 24. Forexample, the surface equipment 14 may include a variety of devices andsystems, such as pumps, power supplies, cable and hose reels, controlunits, a diverter, a rotary table, and the like. Similarly, the riserequipment 16 may also include a variety of components, such as riserjoints, valves, control units, and sensors, among others. In someembodiments, the riser equipment 16 may include a lower marine riserpackage (LMRP). The riser equipment 16 facilitates transmission of theextracted resource to the surface equipment 14 from the stack equipment18 and the well 12. The stack equipment 18 also includes a number ofcomponents, such as one or more blowout preventers (BOPs), a subseamanifold, and/or production trees (e.g., completion or “Christmas”trees) for extracting the desired resource from the wellhead 20 andtransmitting it to the surface equipment 14 and the riser equipment 16.The desired resource extracted from the wellhead 20 is transmitted tothe surface equipment 14 generally in an upward direction 26. Asutilized herein, a downward direction 28 is hereby defined as oppositethe upward direction 26, such that the downward direction 28 is thegeneral direction from the surface equipment 14 to the well 12. As maybe appreciated, the upward direction 26 and the downward direction 28are generally parallel to an axis of each component 24.

Some of the components 24 are coupled to one another via flangeconnections 30, thereby forming flange seals 32 between the respectivecomponents 24. The flange connections 30 may secure the respectivecomponents 24 together via fasteners 34 that at least partially extendthrough flanges 36 of one or both components 24 of the flange connection30. In some embodiments, a component 38 (e.g., blowout preventer) iscoupled to a connector 40 (e.g., H-4® subsea connector) via a flangeconnection 42.

As may be appreciated, the desired resource extracted from the wellhead20 is transferred in the upward direction 26 through the equipment ofthe hydrocarbon extraction system 10 such that the desired resource isisolated from the environment 44 (e.g., subsea environment). The flangeseals 32 enable the desired resource to be isolated from the environment44 at each flange connection 30. For example, the flange seals 32facilitate the isolation of the desired resource at a high temperatureand/or a high pressure relative to the environment 44.

Some components 24 of the hydrocarbon extraction system 10 may beutilized in other hydrocarbon extraction systems during the serviceablelife of the respective components 24. For example, upon completion ofuse of the stack equipment 18 in a first hydrocarbon extraction system10 at a first well 12, at least some of the components 24 of the stackequipment 18 may be utilized in a second hydrocarbon extraction systemat a second well. Traditionally, the components of the stack equipment18 are brought to the surface (e.g., oil rig, surface vessel) so thatthe components 24 may be disassembled from one another for inspectionand/or certification for additional service. The inspection may beperformed at a site remote from the hydrocarbon extraction system 10 andthe wellhead 20. Traditional inspections of the components 24 mayinclude penetrant testing and/or magnetic particle testing of theflanges 36, the flange seals 32, and the fasteners 34. As may beappreciated, disassembly of the flange connections 30 may be timeconsuming. Additionally, disassembly and reassembly of the flangeconnections 30 may increase wear on the flange seals 32, the fasteners34, and the flanges 36 of the components 24.

FIG. 2 is cross-sectional view of an embodiment of a portion of thestack equipment 18 of the hydrocarbon extraction system 10 of FIG. 1. Afirst component 50 of the stack equipment 18 is coupled to a secondcomponent 52 (e.g., blow out preventer (BOP)) via a flange connection54. Both the first component 50 and the second component 52 are disposedabout an axis 56 through a bore 58. In some embodiments, the firstcomponent 50 may be identified by a first identifier 51, and the secondcomponent 52 may be identified by a second identifier 53. The first andsecond identifiers 51, 53 may include, but are not limited to, serialnumbers, bar codes, radio frequency identification (RFID) tags or chips,distinguishing part geometries, or any combination thereof. In someembodiments, the first and second identifiers 51, 53 are embedded withinthe respective components 50, 52.

The bore 58 facilitates fluid communication between the wellhead 20 andthe surface equipment 14, such as for hydrocarbon flows, mud, orhydraulic fluids. A plurality of fasteners 60 (e.g., bolts, studs)extend through a flange 62 of the first component 52 and couple with asecond surface 64 of the second component 52. The flange 62 extends in acircumferential direction 66 about the bore 58, and the plurality offasteners 60 are disposed circumferentially about the axis 56 to securethe first component 50 to the second component 52. That is, theplurality of fasteners 60 may urge the first component 50 and the secondcomponent 52 towards each other such that a first surface 68 of thefirst component 50 interfaces with the second surface 64 of the secondcomponent 52.

FIG. 3 is a cross-sectional view of an embodiment of the flangeconnection 54 between the first component 50 and the second component52, taken along line 3-3 of FIG. 2. Interior surfaces 70 of the firstand second components 50, 52 form the bore 58 through the respectivecomponents 50, 52 of the assembled stack equipment 18. The first andsecond components 50, 52 may form a seal passage 72 near the interiorsurfaces 70 that extends in the circumferential direction 66 about theinterior surfaces 70 (e.g., around the bore 58). The seal passage 72 isdisposed in a radial direction 73 outside the interior surfaces 70.Recesses, grooves, or depressions in the first component 50 and/or thesecond component 52 form the seal passage 72. The shape of the sealpassage 72 may include, but is not limited to a circle, a semicircle, anellipse, a rectangle, a pentagon, a hexagon, an octagon, and so forth.The seal passage 72 is configured to receive a seal 74, such as anelastomeric seal, O-ring, C-ring, gasket, and so forth. As may beappreciated, the seal 74 provides flexibility to the flange connection54 that enables fluids (e.g., hydrocarbons, oils, gases, slurries)within the bore 58 to remain isolated from the external environment 44about the components 50, 52 despite some relative movement between thefirst and second components 50, 52 in the circumferential direction 66,the radial direction 73, or the axial 104. FIG. 3 illustrates anembodiment of the seal 74 with the dashed cross-section of a circularseal (e.g., O-ring). A lip portion 76 is radially disposed between theseal passage 72 and the interior surfaces 70 about the bore 58. The lipportion 76 may include portions of the first component 50 and the secondcomponent 52. Additionally, or in the alternative, the lip portion 76may only include portions of the first component 50, or may only includeportions of the second component 52. A lip interface 78 between thefirst surface 68 and the second surface 64 at the lip portion 76facilitates the isolation of the bore 58 from the seal passage 72, and abody interface 80 facilitates the isolation of the seal passage 72 andthe bore 58 from the external environment 44.

Various factors may affect the integrity and effectiveness of the flangeconnection 54 to isolate the bore 58 from the external environment 44and to secure the first component 50 to the second component 52. Thedesired strength of portions of the first and second components 50, 52is based at least in part on operating conditions of the hydrocarbonextraction system. The operating conditions may include, but are notlimited to, the composition of the extracted resource, the pressure ofthe extracted resource, the external environment, the depth of thecomponent when installed, and so forth. The strength of a component maybe affected by flaws of the interior surfaces 70, the lip portion 76,the seal passage 76, the seal 74, or any combination thereof. Flaws mayinclude, but are not limited to porosity, cracks (e.g., surface cracksor subsurface cracks), wear, or any combination thereof. Additionally,or in the alternative, flaws may affect the pressures at which theflange connection 54 between the first and second components 50, 52forms an effective seal to isolate the bore 58 from the seal passage 72and/or the external environment 44. Furthermore, flaws in the fasteners60 of the flange connection 54 may affect the magnitude and thedistribution about the axis 56 of a sealing force between the firstcomponent 50 and the second component 52.

The first and second components 50, 52 may be inspected and/or certifiedprior to utilization in a hydrocarbon extraction system 10. For example,the first and second components 50, 52 may be inspected and/or certifiedafter manufacture and prior to installation in a first hydrocarbonextraction system. After utilization of the first and second components50, 52 in the first hydrocarbon extraction system, it may be desirablefor the first and second components 50, 52 to be installed in a secondhydrocarbon extraction system. However, standards or regulations mayrequire re-inspection and/or re-certification of the first and secondcomponents 50, 52 before utilization in the second hydrocarbonextraction system. For example, re-inspection and/or re-certificationmay identify flaws (e.g., porosity, cracks, wear) of portions of thefirst and second components 50, 52. Systems and methods described hereinfacilitate inspection of portions of the first and second components 50,52 while the first and second components 50, 52 are assembled withoutdisassembly of the flange connection 54. For example, a probe assemblydiscussed herein may utilize one or more ultrasound probes to inspectportions of the assembled first and second components 50, 52 of theflange connection 54. In some embodiments, probe assemblies may utilizeone or more phased arrays of ultrasound probes. Accordingly, the probeassembly enables non-destructive testing of assembled flange connection54, thereby reducing the cost, labor, and time of assembly anddisassembly of the flange connection 54 with traditional inspectionmethods. Furthermore, a probe assembly may enable multiple componentsand multiple flange connections assembled together in series to beinspected at substantially the same time, thereby further reducing thecost, labor, and time of inspection.

FIG. 4 illustrates embodiments of a first probe assembly 100 (e.g., boreprobe assembly, flange probe assembly) and a second probe assembly 102(e.g., bolt probe assembly) that are configured to inspect portions ofthe first and second components 50, 52. The first probe assembly 100 isdisposed within the bore 58 of the first and second components 50, 52along the axis 56. The first probe assembly 100 is moved in an axialdirection 104 along the bore 58 to inspect axial portions of the firstand second components 50, 52, and the first probe assembly 100 isrotated in the circumferential direction 66 to inspect circumferentialportions of the first and second components 50, 52. One or more probes108 (e.g., ultrasound probes) coupled to a controller 110 obtaininspection data regarding portions of the first and second components50, 52 adjacent to the one or more probes 108. The one or more probes108 may be in contact with the interior surfaces 70 of the bore 58 toobtain the inspection data. In some embodiments, the one or more probes108 emit ultrasound signals into the first and second components 50, 52,and the one or more probes 108 receive reflected ultrasound signals.Each probe 108 may include one or more transducers. A couplant medium(e.g., water, oil, lubricant) may be disposed between the one or moreprobes 108 and the interior surfaces 70 of the bore 58 such that the oneor more probes 108 are in contact with the interior surfaces 70 via thecouplant medium. The couplant medium may be applied (e.g., injected,pumped, sprayed) to the surface of the one or more probes 108, theinterior surfaces 70 of the bore 58, or any combination thereof. Thecouplant medium may facilitate transmission of the ultrasound signalsbetween the one or more probes 108 and the interior surfaces 70 of thefirst and second components 50, 52. The one or more probes 108 emit theultrasound signals in the radial direction 73 into the first and secondcomponents 50, 52.

A processor 112 of the controller 110 may process signals based at leastin part on the received signals to generate the inspection data 114 thatmay be stored in a memory 116. The inspection data 114 may include, butis not limited to baseline data 118, inspection run data 120, and trenddata 122. The baseline data 118 may be used for comparison with laterobtained inspection run data 120 to determine any deviations from abaseline (e.g., zero reference). The baseline data 118 may be based atleast in part on a model, or the baseline data 118 may be empiricallydetermined. For example, the baseline data 118 may be empiricallydetermined from components 50, 52 of an assembled flange connection 54after manufacture or refurbishment. The inspection run data 120 is basedat least in part on signals processed by the processor 112 for aparticular inspection run, such as a re-inspection prior to installationof the first and second components 50, 52 in a second hydrocarbonextraction system. The inspection run data 120 may be compared with thebaseline data 118 to identify and evaluate any flaws (e.g., porosity,cracks, wear) of the components 50, 52. The processor 112 may generatethe trend data 122 upon comparison of one or more sets of the inspectionrun data 120 with previously obtained sets of the inspection run data120. In some embodiments, trend data 122 may be based at least in parton comparison of inspection run data 120 from different components,different hydrocarbon extraction systems, or any combination thereof.Accordingly, the trend data 122 may facilitate the identification oftrends or patterns in cracks or wear of components of the hydrocarbonextraction system.

In some embodiments, the inspection data 114 may include identifyinginformation regarding the inspected component (e.g., part number, flangeconnection identifier, RFID, installation history) and the inspectionprocess (e.g., inspection operator, date, time). Furthermore, some ofthe inspection data 114 may be stored on and/or accessed from a network123 remote from the controller 110. As may be appreciated, the network123 may facilitate the communication of inspection data 114 betweencontrollers 110 at different locations.

In some embodiments, a suspension system 125 coupled to the first probeassembly 100 moves the first probe assembly 100 in the axial direction104 within the bore 58. The first probe assembly 100 may be suspended byone or more cables 127 coupled to the suspension system 125. In someembodiments, the suspension system 125 includes one or more winches orpulleys coupled to the one or more cables 127 to facilitate movement inthe axial direction 104. The suspension system 125 may couple to thestack equipment 18 such that the one or more cables 127 are suspendedproximate to the axis 56 of the bore 58. One or more umbilical lines 131couple the first probe assembly 100 to the controller 110. Eachumbilical line of the one or more umbilical lines 131 may conveyelectrical signals, electrical power, or fluids between the controller110 and the first probe assembly 100. A connection receiver 133 of thefirst probe assembly 100 may be configured to couple the one or moreumbilical lines 131 with corresponding conduits of the first probeassembly 100 via one or more quick connections. While the suspensionsystem 125 and the controller 110 are illustrated in FIG. 4 as separatecomponents of an inspection system 129, it may be appreciated that someembodiments of the suspension system 125 may be integrated with thecontroller 110, such as being disposed within a common enclosure.

The second probe assembly 102 utilizes one or more fastener probes 124to generate inspection data regarding the plurality of fasteners 60 ofthe flange connection 54. The one or more fastener probes 124 emitultrasound signals into the fasteners 60 in the axial direction 104, andthe one or more fastener probes 124 receive reflected ultrasoundsignals. In some embodiments, the one or more fastener probes 124 emitultrasound signals in a direction substantially parallel (e.g., lessthan 30° offset) to the axial direction 104. As may be appreciated, theone or more fastener probes 124 may be in contact with a fastener 60(e.g., bolt, stud) when emitting and receiving the ultrasound signals.In a similar manner as discussed above with the one or more probes 108,the controller 110 may process signals based at least in part on thereceived signals to generate the inspection data 114 that may be storedin the memory 116. The inspection data 114 may be associated with eachrespective fastener 60 of the plurality of fasteners. In someembodiments, each fastener probe 124 may rotate about a fastener axis toobtain the inspection data for each fastener 60. Accordingly, theinspection data 114 for each fastener of the flange connection 54 may beobtained in series via the second probe assembly 102. Multiple secondprobe assemblies 102 may facilitate obtaining inspection data formultiple respective fasteners 60 in parallel with one another.

FIG. 5 is a side view of an embodiment of the first probe assembly 100configured to inspect the components of an assembled flange connection54 from the bore 68. The first probe assembly 100 may include a shell126 that at least partially encloses components of the first probeassembly 100. In some embodiments, the shell 126 is a tubular memberwith an anodized exterior surface 127 that may increase the corrosionresistance of the shell 126. One or more probes 108 (e.g., ultrasoundtransducers) are radially disposed about a shaft 130 that may beinserted into the bore 58 of an assembled flange connection 54. Theshaft 130 of the first probe assembly 100 may be substantially alignedwith the axis 56 of the flange connection 54 so that the probes 108 areconcentrically arranged about the axis 56. In some embodiments, portionsof the shaft 130 are threaded to facilitate controlled circumferentialand axial movement of the shaft. The one or more probes 108 may include,but are not limited, to a phased array of ultrasound transducers.Embodiments of the first probe assembly 100 may have 1, 2, 3, 4, 5, 6,7, 8, 9, 10, or more probes 108. The probes 108 may be uniformly spacedapart from each other in the circumferential direction 66 about theshaft 130. Each probe 108 is coupled to an arm 132 extending in a radialdirection 73 from the shaft 130. In some embodiments, a movable segment134 of one or more arms 132 may be moved (e.g., extended, folded,retracted) to adjust a diameter 136 of the first probe assembly 100,such as to facilitate insertion into the bore 58. In some embodiments,the movable segment 134 for each probe 108 may be separately controlled(e.g., extended, retracted).

During an inspection, the one or more probes 108 may be urged intocontact with the interior surface 70 of the bore 58. For example, themovable segments 134 may be moved such that a transducer surface 138 ofeach probe 108 interfaces with the interior surface 70. As discussedabove, the transducer surface 138 of each probe 108 may interface withthe interior surface 70 via a couplant medium. In some embodiments,centering fixtures 139 interface with the interior surface 70 of thebore 58 to center the shaft 130 along the axis 56 of the flangeconnection 54. Linkages 145 coupled between the centering fixtures 139and the shell 126 may be controlled to extend or retract radially toadjust the lateral position of the first probe assembly 100 within thebore 58. Accordingly, the linkages 145 and the centering fixtures 139may be controlled to align the shaft 130 with the axis 56 through thebore 58. As may be appreciated, the ultrasound signals emitted andreceived by the one or more probes 108 may enable the identification andmeasurement of flaws (e.g., porosity, cracks, wear) at the surface(e.g., interior surface 70) adjacent the one or more probes.Additionally, or in the alternative, the ultrasound signals emitted andreceived by the one or more probes 108 may enable the identification andmeasurement of flaws beneath the surface 70 of the bore 58, such as inthe lip portion 76, the seal passage 72, the seal 74, or the body of thecomponents radially outward from the seal passage 72, or any combinationthereof.

One or more fluid conduits 135 may supply respective fluids (e.g.,couplant medium, air) to the arms 132, to the one or more probes 108, tothe interior surface 70 of the bore 58, or any combination thereof. Insome embodiments, one or more reservoirs 137 of the first probe assembly100 supply respective fluids to the fluid conduits 135. The one or morereservoirs 137 may be internal to the shell 126 of the first probeassembly 100. Additionally, or in the alternative, supply conduits 141supply fluids to the first probe assembly 100 and the fluid conduits 135from an upstream source that may be outside the bore 58. In someembodiments, the supply conduits 141 supply fluids to actuate pneumaticor hydraulic components of the first probe assembly 100, such as themovable segments 134, centering fixtures 139 (e.g., skids), or controlsfor axial and circumferential movement of the one or more probes 108within the bore 58, or any combination thereof. In some embodiments, oneor more supply conduits 141 supplies electrical power to components ofthe first probe assembly 100. Some fluid conduits 135 supply thecouplant medium to the one or more probes 108 and/or to the interiorsurface 70 to facilitate the transmission of ultrasound signals betweenthe one or more probes 108 and the interior surface 70. The couplantmedium may include, but is not limited to, water, oil, lubricant, or anycombination thereof. In some embodiments, air may be supplied to thearms 132, the one or more probes 108, or the interior surface 70 toremove debris or other materials from the interior surface 70.

Rotating the shaft 130 in the circumferential direction 66 moves the oneor more probes 108 across the interior surface 70 of the bore 58 in agenerally circumferential path. In this manner, the first probe assembly100 may obtain inspection data for portions of the first component 50and the second component 52 along the circumferential path. A rotaryencoder 140 coupled to the shaft 130 enables the controller 110 todetermine the circumferential position of each probe 108 during aninspection. Accordingly, the controller 110 may associate the inspectiondata along the circumferential path with the circumferential position ofeach probe 108 to identify the circumferential position of identifiedfeatures in the inspection data. In some embodiments, the inspectiondata along the circumferential path may be based at least in part on anidentified circumferential reference point (e.g., zero point) of thebore 58. The circumferential reference point may be utilized tocalibrate the inspection data among different inspection runs tofacilitate comparison of the inspection data. The circumferentialreference point may include, but is not limited to a feature on theinterior surface 70, a feature embedded in the flange connection 54, anRFID tag (e.g., first identifier 51, second identifier 53), or anycombination thereof. In some embodiments, a camera 143 may be mounted tothe shaft via a camera connection 142 to visually identify thecircumferential reference point on the interior surface 70.Additionally, or in the alternative, another sensor (e.g., RFID reader)may be coupled to the camera connection 142 to identify thecircumferential reference point within the bore 58 to calibrate theinspection data. That is, the first identifier 51 or the secondidentifier 53 may correspond to the circumferential reference point.Moreover, in some embodiments, the first probe assembly 100 may beinserted into the bore 58 with a known reference orientation.

Moving the shaft 130 in the axial direction 104 moves the one or moreprobes 108 across the interior surface 70 of the bore 58 in a generallyaxial path. In this manner, the first probe assembly 100 may obtaininspection data for portions of the first component 50 and the secondcomponent 52 at various axial positions along the axial path. A verticalencoder 144 coupled to the shaft 130 of the first probe assembly 100enables the controller 110 to determine the axial position of each probe108 during an inspection. Accordingly, the controller 110 may associatethe inspection data along the axial path with the axial position of eachprobe 108 to identify the axial position of identified features in theinspection data. The inspection data along the axial path may be basedat least in part on the identified circumferential reference point at aknown axial position, or a separate axial reference point.

The inspection data from the one or more probes 108 along multiplecircumferential and axial paths may be utilized to form a model (e.g.,3D model) of the components 50, 52 of the flange connection 54. Variouscombinations of axial and circumferential paths of the one or moreprobes 108 through the bore 58 may be utilized to form the model. Forexample, upon identification of a first axial location (e.g., sealinterface between the components 50, 52) via the camera 143, the one ormore probes 108 may be moved along a first circumferential path thatspans an axial length of the first axial location, moved along a secondcircumferential path adjacently upstream of the first circumferentialpath, and moved along a third circumferential path adjacently downstreamof the first circumferential path. That is, the one or more probes 108may be moved along three adjacent circumferential paths of the bore 58bracketing the identified first axial location (e.g., the sealinterface). Accordingly, the one or more probes 108 may transmit andreceive ultrasound signals with the seal 74 between the components 50,52.

In some embodiments, the shaft 130 is coupled to a mounting shaft 146via a threaded connection. That is, the shaft 130 may be threaded on anupstream end of the shaft 130, and rotating the shaft 130 in thecircumferential direction 66 also moves the one or more probes 108 inthe axial direction 104 as the shaft 130 progresses or regresses viathreads relative to the downstream end of the mounting shaft 146.Accordingly, the one or more probes 108 may move in the circumferentialdirection 66 and the axial direction 104 substantially simultaneously.The number of rotations of the first probe assembly 100 utilized toinspect a section of the bore 58 proximate to a flange connection 54 maybe based at least in part on the quantity of probes 108, the sensingarea of the probes 108, and an axial length of the section of the bore58 to be inspected, or any combination thereof.

A first control 148 coupled to the shaft 130 may control the movement ofthe one or more probes 108 in the axial direction 104, and a secondcontrol 150 coupled to the shaft 130 may control the movement of the oneor more probes 108 in the circumferential direction 66. The controller110 may control the axial and circumferential movement of the one ormore probes 108 via the first and second controls 148, 150. In someembodiments, the movement of the one or more probes 108 in the axial andcircumferential directions is controlled via the first control 148. Eachof the first and second controls 148, 150 may include, but is notlimited to, an electric motor, a hydraulic motor, or a pneumatic motor.Arrangements of the first and second controls 148, 150 within the shell126 may protect the first and second controls 148, 150 and the supplyconduits 135 from the external environment, thereby reducing wear onsuch components when the first probe assembly 100 is inserted andremoved from the bore 58. In some embodiments, the first and secondcontrols 148, 150 may be controlled to execute routines to inspect oneor more predetermined circumferential paths along the interior surface70 of the bore 58. Additionally, or in the alternative, thecircumferential and axial movement of the one or more probes 108 withinthe bore 58 may be manually controlled.

FIG. 6 is an embodiment of a method 160 for inspecting a flangeconnection of an assembled stack of components. The assembled stack ofcomponents is removed (block 162) from a system (e.g., hydrocarbonextraction system). The assembled stack may include two or morecomponents coupled to one another via a flange connection as discussedabove. For example, components of the assembled stack may include, butare not limited to, a lower marine riser package, one or more blowoutpreventers (BOPs), a subsea manifold, production trees, an H-4® subseaconnector, or any combination thereof. In some embodiments, theassembled stack is removed from a subsea environment to the surface of adrilling rig or a ship. Once removed from the system, the first probeassembly is inserted (block 164) into a bore of the assembled stack, andone or more probes of the first probe assembly are interfaced (block166) with the bore for inspection. As discussed above, the one or moreprobes may include, but are not limited to ultrasound probes that areconfigured to emit and receive ultrasound signals. Moreover, each of theone or more ultrasound probes may be a phased array of ultrasoundtransducers. Additionally, the couplant medium (e.g., water, oil,lubricant) may be disposed between the one or more probes and theinterior surfaces of the bore such that the one or more probes are incontact with the interior surfaces via the couplant medium.

The first probe assembly is moved axially and circumferentially throughthe bore to inspect (block 168) the assembled stack of components andthe one or more flange connections between the assembled components. Thefirst probe assembly is configured to inspect the assembled stackwithout disassembling components from the stack. That is, one or moreflange connections between components are inspected while the respectivecomponents are secured together via the flange connections. Thecontroller coupled to the first probe assembly stores (block 170)inspection run data generated during the inspection (block 168). Thestored inspection run data may identify features of portions (e.g.,interior surface, lip portion, seal passage, seal) of the components ofthe inspected flange connection. In some embodiments, the inspection rundata may identify the axial and/or circumferential location ofidentified features of the components relative to a reference point. Insome embodiments, the controller produces (block 172) a model of theassembled stack based at least in part on the inspection run data. Themodel may enable the inspection run data to be readily understood andconveyed by inspection technicians, thereby facilitating theidentification of flaws, such as porosity, cracks, wear, or anycombination thereof.

The controller may also compare (block 174) the inspection run data tobaseline data. The comparison may enable the controller or an operatorto determine (node 176) whether the assembled stack passes inspection.If any of the components of the assembled stack do not pass inspection,non-compliant components may be removed (block 178) from the assembledstack so that the assembled components that pass the inspection may beinstalled (block 180) into another system. If the assembled stack passesinspection, then the entire assembled stack may be installed (block 182)into another system. Accordingly, the method 160 enables the inspectionof an assembled stack of components and the corresponding flangeconnections without unnecessarily disassembling the components, therebyreducing the inspection time and inspection costs.

This written description uses examples to disclose the embodiments,including the best mode, and also to enable any person skilled in theart to practice the present disclosure, including making and using anydevices or systems and performing any incorporated methods. Thepatentable scope of the present disclosure is defined by the claims, andmay include other examples that occur to those skilled in the art. Suchother examples are intended to be within the scope of the claims if theyhave structural elements that do not differ from the literal language ofthe claims, or if they include equivalent structural elements withinsubstantial differences from the literal language of the claims.

1. A system comprising: a probe assembly configured to inspectcomponents of an assembled flange connection when the probe assembly isdisposed within a bore of the components, wherein the probe assemblycomprises: a shaft configured to be aligned with an axis of theassembled flange connection; one or more ultrasound probes coupled tothe shaft, wherein the one or more ultrasound probes are configured tointerface with an interior surface of the bore of the components, toemit ultrasound signals into the components, and to receive ultrasoundsignals from the components; and one or more encoders coupled to theshaft and configured to determine a position of the one or moreultrasound probes relative to a reference point of the assembled flangeconnection during an inspection of the components of the assembledflange connection.
 2. The system of claim 1, wherein the probe assemblycomprises an arm disposed between the shaft and a first ultrasound probeof the one or more ultrasound probes, wherein the arm comprises amovable segment configured to adjust radially relative to the axis tointerface the first ultrasound probe with the interior surface of thebore.
 3. The system of claim 2, wherein the probe assembly comprisescentering fixtures configured to adjust radially to align the shaft withthe axis.
 4. The system of claim 1, wherein the probe assembly comprisesone or more controls configured to move the one or more ultrasoundprobes along a desired path of the interior surface of the bore of thecomponents.
 5. The system of claim 4, wherein the desired path comprisescircumferential movement at an axial position of the bore thatcorresponds to a seal interface between the components of the assembledflange connection.
 6. The system of claim 4, wherein the desired pathcomprises substantially simultaneous axial and circumferential movement.7. The system of claim 1, comprising a controller configured to generatea model of the assembled flange based at least in part on the ultrasoundsignals received by the one or more ultrasound probes and thecorresponding position of the one or more ultrasound probes when theultrasound signals are received.
 8. The system of claim 1, wherein theprobe assembly comprises a camera coupled to the shaft, wherein thecamera is configured to identify the reference point of the assembledflange connection.
 9. The system of claim 1, wherein the probe assemblycomprises a sensor configured to detect a radio frequency identificationtag corresponding to the reference point of the assembled flangeconnection.
 10. The system of claim 1, wherein the probe assemblycomprises a shell, the shaft is disposed at least partially within theshell, the one or more probes are disposed outside the shell, and theone or more encoders are disposed within the shell.
 11. A controllercoupled to a probe assembly configured to be disposed within a bore ofan assembled flange connection, wherein the controller is configured tocontrol axial movement of the probe assembly within the bore of theassembled flange connection, to control circumferential movement of theprobe assembly within the bore of the assembled flange connection, andto control an ultrasound inspection of an interior surface of the bore,wherein the ultrasound inspection comprises emitting ultrasound signalsfrom one or more probes of the probe assembly into the components,receiving ultrasound signals with the one or more probes of the probeassembly, and comparing the received ultrasound signals to baseline datafor the assembled flange connection.
 12. The controller of claim 11,wherein the controller is configured to control an alignment of theprobe assembly within the bore via control of centering fixturesconfigured to interface with the interior surface of the bore.
 13. Thecontroller of claim 11, wherein the controller is configured to generatea model of the assembled flange based at least in part on the ultrasoundsignals received by the one or more ultrasound probes and thecorresponding position of the one or more ultrasound probes when theultrasound signals are received.
 14. The controller of claim 11, whereinthe controller is configured to identify a reference point at an axialposition of the bore, and to control the one or more probes to move in acircumferential direction along the interior surface at the axialposition.
 15. An inspection method comprising: inserting a probeassembly into a bore of an assembled stack of components from ahydrocarbon extraction system, wherein the assembled stack of componentscomprises an assembled flange connection between the components;emitting ultrasound signals from the probe assembly into the componentsof the assembled stack; receiving ultrasound signals at the probeassembly, wherein the received ultrasound signals are reflected from thecomponents of the assembled stack; and generating a model of theassembled flange connection of the assembled stack based at least inpart on the received ultrasound signals.
 16. The inspection method ofclaim 15, comprising locating a reference point of the assembled flangeconnection at an axial location along the bore, wherein the probeassembly is axially positioned within the bore such that the emittedultrasound signals are emitted at the axial location and the receivedultrasound signals are received at the axial location.
 17. Theinspection method of claim 15, comprising rotating one or moreultrasound probes of the probe assembly within the bore while emittingand receiving ultrasound signals.
 18. The inspection method of claim 17,comprising radially extending the one or more ultrasound probes of theprobe assembly to interface with an interior surface of the bore priorto rotating the one or more ultrasound probes.
 19. The inspection methodof claim 15, comprising identifying flaws in components of the assembledstack based at least in part on the received ultrasound signals withoutdisassembling the assembled flange connection.
 20. The inspection methodof claim 15, comprising certifying the assembled stack of components forinstallation in another hydrocarbon extraction system withoutdisassembling the assembled flange connection.